fsfw/tmtcservices/CommandingServiceBase.h

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#ifndef COMMANDINGSERVICEBASE_H_
#define COMMANDINGSERVICEBASE_H_
#include <framework/container/FixedMap.h>
#include <framework/container/FIFO.h>
#include <framework/ipc/CommandMessage.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h>
#include <framework/serialize/SerializeAdapter.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/tcdistribution/PUSDistributorIF.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/timemanager/Clock.h>
/**
* \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
*
* It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
* Every class that inherits from this abstract class has to implement four adaption points:
* - isValidSubservice
* - getMessageQueueAndObject
* - prepareCommand
* - handleReply
* \ingroup pus_services
*/
class CommandingServiceBase: public SystemObject,
public AcceptsTelecommandsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
static const ReturnValue_t BUSY = MAKE_RETURN_CODE(4);
static const ReturnValue_t INVALID_TC = MAKE_RETURN_CODE(5);
static const ReturnValue_t INVALID_OBJECT = MAKE_RETURN_CODE(6);
static const ReturnValue_t INVALID_REPLY = MAKE_RETURN_CODE(7);
/**
* Class constructor. Initializes two important MessageQueues:
* commandQueue for command reception and requestQueue for device reception
* @param setObjectId
* @param apid
* @param service
* @param numberOfParallelCommands
* @param commandTimeout_seconds
* @param setPacketSource
* @param setPacketDestination
* @param queueDepth
*/
CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeout_seconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth = 20);
virtual ~CommandingServiceBase();
/***
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* This is the periodically called function.
* Handle request queue for external commands.
* Handle command Queue for internal commands.
* @param opCode is unused here at the moment
* @return RETURN_OK
*/
virtual ReturnValue_t performOperation(uint8_t opCode);
virtual uint16_t getIdentifier();
/**
* Returns the requestQueue MessageQueueId_t
*
* The requestQueue is the queue for external commands (TC)
*
* @return requestQueue messageQueueId_t
*/
virtual MessageQueueId_t getRequestQueue();
/**
* Returns the commandQueue MessageQueueId_t
*
* Remember the CommandQueue is the queue for internal communication
* @return commandQueue messageQueueId_t
*/
virtual MessageQueueId_t getCommandQueue();
virtual ReturnValue_t initialize();
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/**
* Implementation of ExecutableObjectIF function
*
* Used to setup the reference of the task, that executes this component
* @param task_ Pointer to the taskIF of this task
*/
virtual void setTaskIF(PeriodicTaskIF* task_){
executingTask = task_;
};
protected:
/**
* Check the target subservice
* @param subservice[in]
* @return -@c RETURN_OK on success
* -@c INVALID_SUBSERVICE if service is not known
*/
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
/**
* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
* The target message queue ID can then be acquired by using the target interface.
* @param subservice
* @param tcData Application Data of TC Packet
* @param tcDataLen
* @param id MessageQueue ID is stored here
* @param objectId Object ID is extracted and stored here
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED
* - @c CSB or implementation specific return codes
*/
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
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const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) = 0;
/**
* After the Message Queue and Object ID are determined,
* the command is prepared by using an implementation specific CommandMessage type
* which is sent to the target object.
* It contains all necessary information for the device to execute telecommands.
* @param message
* @param subservice
* @param tcData
* @param tcDataLen
* @param state
* @param objectId Target object ID
* @return
*/
virtual ReturnValue_t prepareCommand(CommandMessage *message,
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uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0;
/**
* This function is responsible for the communication between the Command Service Base
* and the respective PUS Commanding Service once the execution has started.
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
* There are different translations of these replies to specify how the Command Service proceeds.
* @param reply[out] Command Message which contains information about the command
* @param previousCommand [out]
* @param state
* @param optionalNextCommand
* @param objectId Source object ID
* @param isStep Flag value to mark steps of command execution
* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
* - @c INVALID_REPLY can handle unrequested replies
* - Anything else triggers a TC verification failure
*/
virtual ReturnValue_t handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0;
struct CommandInfo {
struct tcInfo {
uint8_t ackFlags;
uint16_t tcPacketId;
uint16_t tcSequenceControl;
} tcInfo;
uint32_t uptimeOfStart;
uint8_t step;
uint8_t subservice;
uint32_t state;
Command_t command;
object_id_t objectId;
FIFO<store_address_t, 3> fifo;
};
const uint16_t apid;
const uint8_t service;
const uint16_t timeout_seconds;
uint8_t tmPacketCounter;
StorageManagerIF *IPCStore;
StorageManagerIF *TCStore;
MessageQueueIF* commandQueue;
MessageQueueIF* requestQueue;
VerificationReporter verificationReporter;
FixedMap<MessageQueueId_t, CommandInfo> commandMap;
uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
object_id_t packetSource;
object_id_t packetDestination;
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/**
* Pointer to the task which executes this component, is invalid before setTaskIF was called.
*/
PeriodicTaskIF* executingTask;
/**
* Send TM data from pointer to data. If a header is supplied it is added before data
* @param subservice Number of subservice
* @param data Pointer to the data in the Packet
* @param dataLen Lenght of data in the Packet
* @param headerData HeaderData will be placed before data
* @param headerSize Size of HeaderData
*/
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void sendTmPacket(uint8_t subservice, const uint8_t *data, size_t dataLen,
const uint8_t* headerData = nullptr,size_t headerSize = 0);
/**
* To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
* @param subservice Number of subservice
* @param objectId ObjectId is placed before data
* @param data Data to append to the packet
* @param dataLen Length of Data
*/
void sendTmPacket(uint8_t subservice, object_id_t objectId,
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const uint8_t *data, size_t dataLen);
/**
* To send packets has data which is in form of a SerializeIF or Adapters implementing it
* @param subservice Number of subservice
* @param content This is a pointer to the serialized packet
* @param header Serialize IF header which will be placed before content
*/
void sendTmPacket(uint8_t subservice, SerializeIF* content,
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SerializeIF* header = nullptr);
virtual void handleUnrequestedReply(CommandMessage *reply);
virtual void doPeriodicOperation();
void checkAndExecuteFifo(
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
private:
/**
* This method handles internal execution of a command,
* once it has been started by @sa{startExecution()} in the Request Queue handler.
* It handles replies generated by the devices and relayed by the specific service implementation.
* This means that it determines further course of action depending on the return values specified
* in the service implementation.
* This includes the generation of TC verification messages. Note that
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
* - TM[1,5] Step Successs
* - TM[1,6] Step Failure
* - TM[1,7] Completion Success
* - TM[1,8] Completion Failure
*/
void handleCommandQueue();
/**
* Sequence of request queue handling:
* isValidSubservice -> getMessageQueueAndObject -> startExecution
* Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()}
* or Start Failure Report TM[1,4] by using the TC Verification Service
*/
void handleRequestQueue();
void rejectPacket(uint8_t reportId, TcPacketStored* packet,
ReturnValue_t errorCode);
void acceptPacket(uint8_t reportId, TcPacketStored* packet);
void startExecution(TcPacketStored *storedPacket,
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
void checkTimeout();
};
#endif /* COMMANDINGSERVICEBASE_H_ */